From 55e1259f5981d392c3b7bed7f92e77c874ed0698 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 10 Mar 2016 15:48:35 +0100 Subject: [PATCH] prevent vtol from entering ACRO (temporary) --- src/modules/commander/commander.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 48a85450c8..5a542dca41 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -3001,10 +3001,13 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s /* manual mode is stabilized already for multirotors, so switch to acro * for any non-manual mode */ - if (status.is_rotary_wing) { + // XXX: put ACRO and STAB on separate switches + if (status.is_rotary_wing && !status.is_vtol) { res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_ACRO); - } else { + } else if (!status.is_rotary_wing) { res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_STAB); + } else { + res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_MANUAL); } }